Strong structural controllability and leader selection for multi-agent systems with unidirectional topology

Abstract

For unidirectional communication topology of multi-agent systems, this paper studies its strong structural controllability. When the topology of agents is a pabud graph, we prove that the multi-agent systems can be strongly structurally controllable by selecting only one agent as leader. When the topology is partitioned to disjoint basic controllable graphs, the system can be strongly structurally controllable via selecting corresponding number of agents as leaders. A method to select leaders is presented to ensure the strong structural controllability of multi-agent systems. Finally, the effectiveness of the proposed method is verified with two examples.